version: 66.03
glider: 148
mission: 6
dive: 417
start: 10 2 108 17 58 58
data:
$ID,148
$MISSION,6
$DIVE,417
$D_SURF,3
$D_FLARE,3
$D_TGT,510
$D_ABORT,700
$D_NO_BLEED,80
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52629
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2200
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,440
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15046.929
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2749
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-11.792777
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043992815
$SEABIRD_T_H,0.00064238382
$SEABIRD_T_I,2.7016365e-05
$SEABIRD_T_J,3.0340441e-06
$SEABIRD_C_G,-10.010528
$SEABIRD_C_H,1.1459081
$SEABIRD_C_I,-0.0015769247
$SEABIRD_C_J,0.00021306775
$GPS1,175255,2248.127,-15748.481,25,1.2,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-60.6
$GPS2,175803,2248.144,-15748.531,12,1.2,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,0.077
$KALMAN_X,-360280.4,146.2,-197.1,374732.2,-1848.0
$KALMAN_Y,-266314.1,800.6,214.9,265396.0,-916.4
$MHEAD_RNG_PITCHd_Wd,48.2,843,-27.0,-8.500
$D_GRID,510
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.75,-49.4,0.0,0.0,0,87,0.00,0.00,-62.88,0.000,2,0.000,0.000,407,2149,2587
$GC,93,-1.79,-84.9,3.3,-4.4,11,126,11.25,2.10,-12.52,0.000,4,0.160,0.042,2524,3473,3095
$GC,187,-1.88,-84.9,18.8,-18.5,26,193,0.00,2.22,0.00,0.000,6,0.000,0.019,2525,2044,3096
$GC,389,-1.91,-84.9,54.8,-18.1,50,393,0.00,2.20,0.00,0.000,4,0.000,0.029,2524,649,3097
$GC,458,-2.01,-84.9,67.1,-18.3,56,463,0.17,2.20,0.00,0.000,6,0.048,0.021,2471,2062,3097
$GC,661,-2.01,-84.9,101.6,-15.4,75,665,0.00,2.25,0.00,0.000,4,0.000,0.029,2471,647,3097
$GC,753,-2.04,-84.9,115.0,-14.1,83,758,0.00,2.17,0.00,0.000,6,0.000,0.017,2471,2066,3098
$GC,952,-2.09,-84.9,144.0,-14.8,101,956,0.00,2.25,0.00,0.000,4,0.000,0.030,2471,648,3099
$GC,1053,-2.14,-84.9,158.2,-13.6,109,1059,0.00,2.15,0.00,0.000,6,0.000,0.018,2471,2053,3099
$GC,1380,-2.23,-84.9,201.1,-12.4,140,1385,0.15,2.22,0.00,0.000,4,0.051,0.030,2420,652,3100
$GC,1548,-2.23,-84.9,225.3,-14.6,143,1554,0.00,2.15,0.00,0.000,6,0.000,0.026,2420,2060,3100
$GC,1879,-2.23,-84.9,263.0,-11.2,152,1883,0.00,2.25,0.00,0.000,4,0.000,0.031,2420,651,3100
$GC,2137,-2.23,-84.9,299.3,-14.2,157,2143,0.00,2.15,0.00,0.000,6,0.000,0.018,2420,2050,3100
$GC,2469,-2.26,-84.9,341.2,-12.3,166,2473,0.00,2.25,0.00,0.000,4,0.000,0.040,2420,659,3100
$GC,2727,-2.26,-84.9,375.4,-12.7,171,2733,0.00,2.15,0.00,0.000,6,0.000,0.029,2420,2042,3098
$GC,3059,-2.31,-84.9,417.9,-13.2,180,3063,0.00,2.28,0.00,0.000,4,0.000,0.051,2420,655,3097
$GC,3317,-2.34,-84.9,451.9,-12.4,185,3321,0.00,2.20,0.00,0.000,6,0.000,0.028,2420,2040,3096
$GC,3649,-2.40,-84.9,487.0,-10.0,193,3653,0.00,2.28,0.00,0.000,4,0.000,0.053,2420,663,3094
$STATE,3848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3848,begin apogee
$GC,3856,-0.31,0.0,510.6,11.0,197,3930,1.98,0.00,69.47,0.916,6,0.104,0.000,2845,2003,2749
$STATE,3931,end apogee,CONTROL_FINISHED_OK
$STATE,3931,begin climb
$GC,3934,1.79,84.9,511.7,0.0,199,4017,1.90,2.47,70.12,0.894,4,0.028,0.057,3329,3405,2402
$GC,4198,1.39,84.9,478.3,15.1,205,4204,0.52,2.28,0.00,0.000,6,0.125,0.031,3225,2013,2397
$GC,4525,1.17,84.9,441.4,11.4,213,4527,0.25,0.00,0.00,0.000,6,0.122,0.000,3177,2013,2394
$GC,4849,1.05,84.9,408.1,10.4,221,4854,0.15,2.42,0.00,0.000,4,0.133,0.066,3146,596,2391
$GC,5107,0.94,84.9,380.9,9.4,226,5113,0.12,2.25,0.00,0.000,6,0.137,0.028,3124,2007,2389
$GC,5439,0.95,99.0,356.8,6.9,235,5454,0.00,2.38,10.80,0.770,4,0.000,0.049,3124,596,2344
$GC,5708,0.91,99.0,333.5,9.6,241,5712,0.00,2.25,0.00,0.000,6,0.000,0.022,3123,2011,2342
$GC,6026,0.91,99.0,305.2,9.1,249,6030,0.00,2.35,0.00,0.000,4,0.000,0.048,3123,592,2340
$GC,6070,0.87,99.0,300.5,10.5,250,6074,0.00,2.22,0.00,0.000,6,0.000,0.022,3124,2003,2340
$GC,6390,0.88,113.2,275.2,6.9,258,6409,0.00,2.42,12.43,0.735,4,0.000,0.043,3124,593,2287
$GC,6516,0.88,113.5,264.9,8.5,260,6522,0.00,2.22,0.00,0.000,6,0.000,0.022,3124,2001,2284
$GC,6849,0.93,127.0,241.8,6.9,269,6868,0.00,2.42,12.55,0.709,4,0.000,0.041,3124,580,2231
$GC,6892,0.93,128.1,238.4,8.4,270,6896,0.00,2.28,0.00,0.000,6,0.000,0.028,3124,2003,2230
$GC,7220,1.00,144.7,215.1,6.6,278,7241,0.00,2.38,16.05,0.699,4,0.000,0.039,3124,587,2158
$GC,7365,1.04,144.7,201.8,9.3,281,7369,0.00,2.25,0.00,0.000,6,0.000,0.026,3124,2007,2156
$GC,7696,1.13,154.0,175.5,7.4,311,7708,0.17,0.00,8.85,0.618,6,0.049,0.000,3176,2007,2121
$GC,8024,1.13,154.0,148.2,9.2,342,8028,0.00,2.33,0.00,0.000,4,0.000,0.039,3176,583,2118
$GC,8035,1.13,154.0,147.1,9.4,342,8042,0.00,2.22,0.00,0.000,6,0.000,0.022,3176,2003,2118
$GC,8233,1.13,157.4,131.0,8.1,361,8244,0.00,0.00,4.32,0.458,6,0.000,0.000,3176,2003,2107
$GC,8435,1.13,157.4,111.3,10.1,380,8439,0.00,2.30,0.00,0.000,4,0.000,0.037,3176,588,2107
$GC,8611,1.13,157.4,93.2,11.7,395,8615,0.00,2.22,0.00,0.000,6,0.000,0.021,3176,2006,2107
$GC,8816,1.14,166.3,76.3,7.5,414,8831,0.00,2.35,9.12,0.539,4,0.000,0.043,3176,591,2069
$GC,8981,1.16,182.5,65.0,6.6,428,9001,0.00,2.20,14.95,0.557,6,0.000,0.021,3176,2000,2004
$GC,9203,1.23,186.9,48.4,8.0,449,9215,0.00,2.28,4.93,0.428,4,0.000,0.044,3176,3399,1986
$GC,9246,1.29,186.9,44.9,8.6,452,9253,0.10,2.22,0.00,0.000,6,0.064,0.022,3209,1980,1985
$GC,9447,1.29,186.9,25.1,10.4,475,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1980,1985
$GC,9657,1.29,186.9,3.9,10.5,512,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1980,1985
$STATE,9667,end climb,SURFACE_DEPTH_REACHED
$STATE,9667,begin surface coast
$FINISH,0.8,1.010997
$STATE,9696,end surface coast,CONTROL_FINISHED_OK
$STATE,9697,begin surface
$SM_CCo,9719,137.00,0.516,0,0,953,440.07
$SM_GC,1.73,0.00,0.00,137.00,0.000,0.000,0.516,408,2123,953,-11.56,2.06,440.07
$IRIDIUM_FIX,2237.01,-15749.78,271297,151506
$TT8_MAMPS,0.027612
$HUMID,1785
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.60
$XPDR_PINGS,93
$24V_AH,23.7,54.641
$10V_AH,10.1,52.479
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,28.175,90.500,233.600,137.000,0.000,22.468,29.233,132.198,23.250,0.000,0.000,14.188,1065.185,6435.121,469.838,1609.531,583.608,33.374,1256.689,0.000,1718.128,0.000,0.469
$DEVICE_MAMPS,159.536,65.962,915.798,516.191,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.570,336.273,689.099,510.286,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38208,519
$CAP_FILE_SIZE,216389,0
$CFSIZE,260165632,230334464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021008,204437,2248.905,-15748.587,40,1.3,40,10.1